Load transportation system based on autonomous small size helicopters

Bernard, M.; Kondak, Konstantin; Hommel, Günter

doi:10.1017/s0001924000003638

Cited by 29 publications

(18 citation statements)

References 17 publications

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“…The details of the presented control algorithms can be found in (Kondak et al, 2006;Kondak et al, 2007;Bernard and Kondak, 2009;Bernard and Kondak, 2010).…”

Section: Controller Designmentioning

confidence: 99%

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Autonomous transportation and deployment with aerial robots for search and rescue missions

Bernard

Kondak

Maza

et al. 2011

Journal of Field Robotics

334

159

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It is generally accepted that systems composed of multiple aerial robots with autonomous cooperation capabilities can assist responders in many search and rescue (SAR) scenarios.In most of the previous research work, the aerial robots are mainly considered as platforms for environmental sensing and have not been used to assist victims. In this paper, outdoors field experiments of transportation and accurate deployment of loads, with single/multiple autonomous aerial vehicles are presented. This is a novel feature that opens the possibility to use aerial robots to assist victims during the rescue phase operations. cooperative sensing, using several different sensor types. The system supports several forms of cooperative actuation as well, ranging from the cooperative deployment of small sensors/objects to the coupled transportation of slung loads.Within this paper the complete system is described, outlining the used hardware and software framework, as well as the used approaches for modeling and control. Additionally, the results of several flight field experiments are presented, including the description of the worldwide first successful autonomous load transportation experiment, using three coupled small size helicopters (conducted in December 2007). During these experiments strong steady winds and wind gusts were present. Various solutions and lessons learned from the design and operation of the system are also provided.

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“…The details of the presented control algorithms can be found in (Kondak et al, 2006;Kondak et al, 2007;Bernard and Kondak, 2009;Bernard and Kondak, 2010).…”

Section: Controller Designmentioning

confidence: 99%

“…The resulting equations are used for control design as well as for simulation. For more details on the modeling see (Kondak et al, 2007;Bernard and Kondak, 2010).…”

mentioning

confidence: 99%

Autonomous transportation and deployment with aerial robots for search and rescue missions

Bernard

Kondak

Maza

et al. 2011

Journal of Field Robotics

334

159

View full text Add to dashboard Cite

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“…Any factors that do not significantly affect the load motion during these translations are not included in the model. Several studies have found that simple models can be used to describe a model helicopter's translational motion [28]. This paper will use a simple translational dynamic model based on the behavior of the helicopter system described in Section II.…”

Section: Dynamic Modelmentioning

confidence: 99%

Reducing swing of model helicopter sling load using input shaping

Potter

Singhose

Costelloy

2011

2011 9th IEEE International Conference on Control and Automation (ICCA)

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Helicopter sling-load operations are extremely useful, but they can also be dangerous. Excessive swinging of the load can degrade control, cause the payload to collide with obstacles, or allow the suspension cable to get tangled with objects. Suppressing load swing could increase safety and productivity. Input shaping is a control technique that has been used to suppress vibration of flexible machines, such as robots, satellites, and cranes. To investigate the use of input shaping on helicopters, a dynamic model is formed to characterize the translational response of a model helicopter and sling load to lateral control inputs. This translational model is used to simulate point-to-point movements with and without input shaping for a range of move distances. The input-shaped movements show greatly-reduced residual swing, with only a minor increase in move time. Data from an experimental trial using a model helicopter is presented.

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“…The synchronization problem arises naturally in missions of surveillance or monitoring ( [18,1]), in structure assembly while the robots are loading and placing parts in a structure ( [5]), or even in the exploration process looking for parts to be assembled as performed in the ARCAS project (http://www.arcas-project.eu), to name but a few applications. In fact, its eventual solution may find many applications beyond the initial problems posed here.…”

Section: Introductionmentioning

confidence: 99%

A General Framework for Synchronizing a Team of Robots Under Communication Constraints

et al. 2017

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This paper addresses a synchronization problem that arises when a team of aerial robots (ARs) need to communicate while performing assigned tasks in a cooperative scenario. Each robot has a limited communication range and flies within a previously assigned closed trajectory. When two robots are close enough, a communication link may be established, allowing the robots to exchange information. The goal is to schedule the flights such that the entire system can be synchronized for maximum information exchange, that is, every pair of neighbors always visit the feasible communication link at the same time. We propose an algorithm for scheduling a team of robots in this scenario and propose a robust framework in which the synchronization of a large team of robots is assured. The approach allows us to design a fault-tolerant system that can be used for multiple tasks such as surveillance, area exploration, searching for targets in a hazardous environment, and assembly and structure construction, to name a few.

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Load transportation system based on autonomous small size helicopters

Cited by 29 publications

References 17 publications

Autonomous transportation and deployment with aerial robots for search and rescue missions

Autonomous transportation and deployment with aerial robots for search and rescue missions

Reducing swing of model helicopter sling load using input shaping

A General Framework for Synchronizing a Team of Robots Under Communication Constraints

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